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Applied Physics Systems 544 User Manual

Msp430 cpu version miniature angular orientation sensor
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Model 544
MSP430 CPU Version
Miniature Angular Orientation Sensor
User Manual
www.appliedphysics.com
281 East Java Drive Sunnyvale, CA. 94089 USA • 650.965.0500 • Fax: 650.965.0404 • service@appliedphysics.com

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Summary of Contents for Applied Physics Systems 544

  • Page 1 Model 544 MSP430 CPU Version Miniature Angular Orientation Sensor User Manual www.appliedphysics.com 281 East Java Drive Sunnyvale, CA. 94089 USA • 650.965.0500 • Fax: 650.965.0404 • service@appliedphysics.com...
  • Page 2 Table 6 - Baud Rate Settings. Added Figure 1 - Model 544 Mechanical Diagram. Added Figure 2 - Model 544 Coordinate System and Orientation Angles. Updated Section 6.5 - Enabling the Echoing of Incoming Commands. Updated Table 7 - Autosend Modes.
  • Page 3 Revision Description Date Updated Section 6.12 - Comparison of ASCII and Standard Binary Data Structures. Removed Section 6.13 Changing the 544 Coordinate System (Optional). Updated Figure 6 - Corrected ASCII Mode. Updated Figure 8 - Model 544 Inclination versus Azimuth Error.

  • Page 4: Table Of Contents

    Figure 2 - Model 544 Coordinate System and Orientation Angles....... .
  • Page 5 Table 1 - Model 544 System Specifications........
  • Page 6 Model 544 User Manual This page is intentionally left blank....www.appliedphysics.com...

  • Page 7: Chapter 1 - Introduction

    This manual describes the Model 544 Miniature Orientation Sensor. This system is designed to enable high accuracy measurement of the inclination, roll (toolface) and azimuth orientation angles of the system to which it is mounted. A common application of the 544 is to measure the orientation of borehole logging and directional drilling systems.
  • Page 8 Chapter 1 - Introduction Model 544 User Manual This page is intentionally left blank....www.appliedphysics.com 250-1256-03-1117 Page 2 of 26...

  • Page 9: Chapter 2 - System Specifications

    2 - System Specifications The system specifications for the 544 are shown in Table 1 Specifications are subject to change without notice. Table 1. Model 544 System Specifications Specification Value Notes Angular Accuracy Azimuth ±1.2° Inclination 90° Inclination ±0.4° Inclination 90°...
  • Page 10 Chapter 2 - System Specifications Model 544 User Manual This page is intentionally left blank....www.appliedphysics.com 250-1256-03-1117 Page 4 of 26...

  • Page 11: Chapter 3 - Mechanical Features

    0.80" x 4.60" (1.90 cm x 2.03 cm x 11.68 cm). The system is normally mounted by using four 2-56 x 0.250 long screws to secure the 544 reference surface to a flat mating surface. Two 0.062" diameter x 0.125" long pins protruding from the external mating surface can be used to orient the 544 on the external mounting surface.

  • Page 12: Coordinate System

    Chapter 3 - Mechanical Features Model 544 User Manual 3.1 - Coordinate System The coordinate system and orientation angles for the 544 are shown in Figure 2 Figure 2. Model 544 Coordinate System and Orientation Angles ....www.appliedphysics.com 250-1256-03-1117 Page 6 of 26...

  • Page 13: Chapter 4 - Electrical Interface

    The RS-232 interface can be connected directly to an external computer COM port. The TTL serial interface is used for communication between the 544 and other system electronics. The serial interfaces are normally set to operate at 9600 baud using 8 bits with one stop bit and no parity.
  • Page 14 Chapter 4 - Electrical Interface Model 544 User Manual This page is intentionally left blank....www.appliedphysics.com 250-1256-03-1117 Page 8 of 26...

  • Page 15: Chapter 5 - Setting Up The System

    Since PC serial COM ports use RS-232 protocol, they can be directly connected to a 544 using this protocol. PC’s use either a 25-pin or a 9-pin D connector on their serial ports. This connector is always a bulkhead male connector on the PC chassis.
  • Page 16 Chapter 5 - Setting up the System Model 544 User Manual This page is intentionally left blank....www.appliedphysics.com 250-1256-03-1117 Page 10 of 26...

  • Page 17: Chapter 6 - Computer Interface

    When this command is sent to the 544, it will respond with the reply enabled! To write byte constant 02=03, the command 0WC02b03 <CR> is issued. After receiving this and acting upon it, the 544 will respond with the reply done 250-1256-03-1117 Page 11 of 26...
  • Page 18 In addition to internal byte constants, the 544 also has a number of float constants. These are used to store the calibration data in the 544 EEROM. These constants can be read by using the commands 0SC*f <CR>...

  • Page 19: Ascii Communication Mode

    X, Y and Z sensor outputs in Gauss and the accelerometer outputs in gees. When byte constant 02=03, the 544 is in angle mode and The 544 responses to a send data command with the following format, MX: +35.17825...

  • Page 20: Changing Data Output Mode

    Model 544 User Manual 6.3 - Changing Data Output Mode The 544 can be configured to output in raw ADC counts, sensor values or angles. Data output format is determined by the value of byte constant 02 as follows: Table 5. Operating Modes...

  • Page 21: Enabling The Echoing Of Incoming Commands

    6.5 - Enabling the Echoing of Incoming Commands It is usually desirable to enable the 544 to echo the command characters sent to it. To do this, the value of the byte constant 00 must be set to a non-zero value by issuing the following sequence of commands: 0l <CR>...

  • Page 22: Averaging And Filtering Output Data

    3.3 so that for 64 averages the average time will be 6.45 seconds. Each data output of the 544 is a running average of the previous n data acquisitions where n is the value of byte constant 23. When a new data point is acquired, a new average is computed by dropping the oldest data point from the average and adding the new data point.

  • Page 23: Single Packet Binary Communication Modes

    ASCII 131 (0x83) Send angle data in binary format The 544, upon receiving one of these commands, responds by sending a binary data packet with one of the structures described below. Command <128>..Sends all data in an encoded binary format.

  • Page 24: Autosend Binary Communication Modes

    35 = 10 Inserts a small delay between data packets (optional) 6.12 - Comparison of ASCII and Standard Binary Data Structures Consider the following data transmissions from a 544, one in ASCII mode and one in binary mode: ASCII: MX: +0.3598...

  • Page 25: Table 9. Binary Data Packets

    In addition, binary data is often much easier to parse than ASCII data. 544 binary data packets will always start with a header byte 0x10 and end with two bytes 0x7FFF. The data is always sent most significant byte (MSB) first, then least significant byte (LSB). Angle, sensor and temperature data is sent as 16-bit signed integers.
  • Page 26 100. ANA1 = 320 = 800/100 = 8.0 (VDC) The ST byte is a status byte that is unused in the 544. The value of this byte will have no meaning. The CS byte is a checksum. The checksum is calculated by summing all of the bytes in the transmission before the CS byte excluding the SOT and status (ST) characters.

  • Page 27: Chapter 7 - Windows Software For The Model 544

    Sensor Interface software provides a graphical user interface for the 544 system and allows the user to configure the system. The software enables the 544 to be programmed for ASCII or binary transfer mode and for corrected or non-corrected data. Log files of sensor data can be created. A scrolling graph of the digital data and graphical indicators of the angular data are displayed.

  • Page 28: Figure 4. Sensor Configuration

    Chapter 7 - Windows Software for the Model 544 Model 544 User Manual shows the main display of the Sensor Interface software. The upper left corner of the Figure 3 main window contains the command buttons. The Monitor button brings up the monitor window and the Configure button brings up the configuration window.

  • Page 29: Figure 5. Monitor Sensor Display Modes

    AC and DC values display on the main window. The computer serial port to be used with the 544 may be set from COM 1 to COM 8. The default baud rate is 9600 baud. Other baud rates may be selected using this panel.

  • Page 30: Figure 6. Corrected Ascii Mode

    Chapter 7 - Windows Software for the Model 544 Model 544 User Manual Figure 6. Corrected ASCII Mode Note that sensor commands may be directly entered from the monitor window. Figure 7. Corrected HEX Mode ....www.appliedphysics.com 250-1256-03-1117 Page 24 of 26...

  • Page 31: Appendix A - Azimuth Accuracy Estimates

    A - Azimuth Accuracy Estimates A.1 - Orientation Sensor Azimuth Accuracy as a Function of the Earth’s Magnetic Field Dip Angle Orientation sensors measure the horizontal component of the Earth’s magnetic field using magnetometers to determine vertical. At high magnetic field dip angles, the vertical component of the magnetic field becomes much larger than the horizontal component.

  • Page 32: Orientation Sensor Azimuth Accuracy As A Function Of The Inclination

    It is assumed for this calculation that the accelerometers are accurate to 0.001 gee and the magnetometers are accurate to 0.0005 Gauss. The dip angle is assumed to be 60 degrees. Figure 8. Model 544 Inclination versus Azimuth Error ....www.appliedphysics.com 250-1256-03-1117...

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